Title :
On-line reconstruction based predictive display in unknown environment
Author :
Huan Hu ; Perez Quintero, Camilo ; Hanxu Sun ; Jagersand, Martin
Author_Institution :
Beijing Univ. of Posts & Telecommun., Beijing, China
Abstract :
In tele-robotics, time delay is a significant problem. When video feedback is delayed, operators adopt inefficient move-wait strategies, so system performance decreases. Predictive display (PD) is an effective solution to compensate for delays by graphics rendering of predicted visual feedback. Using advanced computer vision technology, we implemented a PD system based-on online real-time 3D reconstruction from monocular video. This paper describes the client-server system architecture. Experimental results indicate it can capture 3D models and render the predicted image in realistic applications covering outdoor rover operation on earth, Canadian Space Agency´s (CSA) Mars analogue environment, UAV operation.
Keywords :
computer displays; image reconstruction; real-time systems; rendering (computer graphics); robot vision; telerobotics; video signal processing; CSA; Canadian space agency; Mars analogue environment; PD; UAV operation; client server system architecture; computer vision technology; graphics rendering; monocular video; online real-time 3D reconstruction; online reconstruction; outdoor rover operation; predicted visual feedback; predictive display; telerobotics; unknown environment; video feedback; Cameras; Geometry; Rendering (computer graphics); Robots; Solid modeling; Streaming media; Three-dimensional displays;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139814
